Sometimes simply getting into certain postures or positions can put your body and pelvis in a relaxed state. Elevating your lower extremities can decrease the pressure placed on your pelvic floor muscles from organs and other structures above, allowing your muscles to rest. A bed, ottoman, bolster, chair, or even additional pillows can assist with this.
Soften your inner thighs by allowing your hips to rotate outward and your feet to fall away from each other. Use towel rolls or pillows to help support the curves of your spine to achieve a greater state of rest.